├── 558-orbbec-usb.rules ├── 58-riki.rules ├── 60-respeaker.rules ├── ReadmeHowInstallRikirobot.txt ├── arduino_tools └── dev_tools_install.sh ├── installROS16.04.sh ├── installRikirobotPackages.sh ├── installRikirobotROSNetwork.sh └── proxy.txt /558-orbbec-usb.rules: -------------------------------------------------------------------------------- 1 | # Make primesense device mount with writing permissions (default is read only for unknown devices) 2 | SUBSYSTEM=="usb", ATTR{idProduct}=="0401", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="ubuntu", GROUP:="video" 3 | SUBSYSTEM=="usb", ATTR{idProduct}=="0402", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="ubuntu", GROUP:="video" 4 | SUBSYSTEM=="usb", ATTR{idProduct}=="0403", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="ubuntu", GROUP:="video" 5 | SUBSYSTEM=="usb", ATTR{idProduct}=="0404", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="ubuntu", GROUP:="video" 6 | SUBSYSTEM=="usb", ATTR{idProduct}=="0405", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="ubuntu", GROUP:="video" 7 | SUBSYSTEM=="usb", ATTR{idProduct}=="0406", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="ubuntu", GROUP:="video" 8 | SUBSYSTEM=="usb", ATTR{idProduct}=="0407", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="ubuntu", GROUP:="video" 9 | SUBSYSTEM=="usb", ATTR{idProduct}=="0408", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="ubuntu", GROUP:="video" 10 | SUBSYSTEM=="usb", ATTR{idProduct}=="0409", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="ubuntu", GROUP:="video" 11 | SUBSYSTEM=="usb", ATTR{idProduct}=="040a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="ubuntu", GROUP:="video" 12 | -------------------------------------------------------------------------------- /58-riki.rules: -------------------------------------------------------------------------------- 1 | KERNEL=="ttyACM?", SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", MODE="0777" SYMLINK+="rikibase" 2 | KERNEL=="ttyACM?", SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE="0777" SYMLINK+="rikiarm_left" 3 | KERNEL=="ttyACM?", SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0046", MODE="0777" SYMLINK+="rikiarm_right" 4 | KERNEL=="ttyUSB?", SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{serial}=="0001", MODE="0777" SYMLINK+="rikilidar" 5 | KERNEL=="ttyUSB?", SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", MODE="0777" SYMLINK+="rikibase" 6 | KERNEL=="ttyUSB?", SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE="0777" SYMLINK+="rikibase" 7 | KERNEL=="ttyUSB?", SUBSYSTEM=="tty", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", MODE="0777" SYMLINK+="rikilidar" 8 | -------------------------------------------------------------------------------- /60-respeaker.rules: -------------------------------------------------------------------------------- 1 | SUBSYSTEM=="usb", ATTR{idProduct}=="0018", ATTR{idVendor}=="2886", MODE:="0666" 2 | -------------------------------------------------------------------------------- /ReadmeHowInstallRikirobot.txt: -------------------------------------------------------------------------------- 1 | #用户构建RikiRobot环境须知 2 | #1、请将我们提供的ROS工作环境里面的代码拷贝到你要构建的环境，就是catkin_ws这个目录，然后删除build与devel这两个文件夹 3 | #2、如果没安装ROS，请先安装ROS，里面有installROS16.04.sh这个脚本，如果运行报错误（群主是2018年04月09号写的），如果时间长了可能安装有所不同，请参考ROS wiki的构建方法，如果下面的连接失效了请自行百度一下，谢谢: 4 | # http://wiki.ros.org/kinetic/Installation/Ubuntu 5 | #3、请给我们拷贝的源码目录777权限， chmod 777 -R ~/catkin_ws/src/ 6 | #4、初始化目录下的installRikirobotPackages.sh这个脚本 7 | #4、安装好相关的依赖包后，请进入到catkin_ws的工作空间目录进行编译，编译请一定要开单线程 catkin_make -j1 8 | #5、如果编译通过后请执行installRikirobotROSNetwork.sh这个脚本，把Rikirobot的网络环境与环境变量添加 9 | #6、上面的步骤完成后，Rikirobot的环境就算构建完成，然后就可以按我们的指导视频来操作了 10 | -------------------------------------------------------------------------------- /arduino_tools/dev_tools_install.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | sudo apt-get update 4 | sudo apt-get install python-gudev 5 | sudo apt-get install -y avahi-daemon 6 | sudo apt-get install -y openssh-server 7 | sudo apt-get install -y arduino-core 8 | sudo easy_install pip 9 | sudo pip install -U platformio 10 | sudo rm -rf ~/.platformio/ 11 | #wget https://www.pjrc.com/teensy/49-teensy.rules 12 | sudo cp 49-teensy.rules /etc/udev/rules.d/ 13 | sudo cp 58-riki.rules /etc/udev/rules.d/ 14 | sudo cp 558-orbbec-usb.rules /etc/udev/rules.d/ 15 | 16 | echo "Installation Done" 17 | 18 | -------------------------------------------------------------------------------- /installROS16.04.sh: -------------------------------------------------------------------------------- 1 | sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' 2 | sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 3 | sudo apt-get update 4 | sudo apt-get install ros-kinetic-desktop-full 5 | sudo rosdep init 6 | rosdep update 7 | echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc 8 | source ~/.bashrc 9 | -------------------------------------------------------------------------------- /installRikirobotPackages.sh: -------------------------------------------------------------------------------- 1 | sudo cp 58-riki.rules /etc/udev/rules.d/ 2 | sudo cp 558-orbbec-usb.rules /etc/udev/rules.d/ 3 | sudo apt-get update 4 | ver=$(rosversion -d) 5 | sudo apt-get install -y libusb-dev libspnav-dev libbluetooth-dev libcwiid-dev 6 | sudo apt-get install -y git vim 7 | sudo pip install pybluez 8 | sudo apt-get install -y libv4l-dev 9 | sudo apt-get install libgeographic-dev 10 | sudo apt-get install -y build-essential 11 | sudo apt-get install -y chrony 12 | sudo apt-get install -y libbullet-dev 13 | sudo apt-get install -y libudev-dev 14 | sudo apt-get install -y libusb-dev 15 | #sudo apt-get install -y mini-httpd 16 | sudo apt-get install -y ros-$ver\-roslint 17 | sudo apt-get install -y ros-$ver\-rosserial 18 | sudo apt-get install -y ros-$ver\-gmapping 19 | sudo apt-get install -y ros-$ver\-navigation 20 | sudo apt-get install -y ros-$ver\-map-server 21 | sudo apt-get install -y ros-$ver\-rgbd-launch 22 | sudo apt-get install -y ros-$ver\-costmap-2d 23 | sudo apt-get install -y ros-$ver\-camera-info-manager 24 | sudo apt-get install -y ros-$ver\-image-transport 25 | sudo apt-get install -y ros-$ver\-teleop-twist-keyboard 26 | sudo apt-get install -y ros-$ver\-robot-upstart 27 | sudo apt-get install -y ros-$ver\-slam-karto 28 | sudo apt-get install -y ros-$ver\-geographic-msgs 29 | sudo apt-get install -y ros-$ver\-rosbridge-suite 30 | sudo apt-get install -y ros-$ver\-robot-pose-publisher 31 | sudo apt-get install -y ros-$ver\-tf2-web-republisher 32 | sudo apt-get install -y ros-$ver\-web-video-server 33 | sudo apt-get install -y ros-$ver\-vision-msgs 34 | sudo apt-get install -y ros-$ver\-ar-track-alvar 35 | sudo apt-get install -y ros-$ver\-audio-common-msgs 36 | 37 | 38 | echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc 39 | source ~/.bashrc 40 | 41 | sudo usermod -aG dialout $USER 42 | sudo usermod -aG video $USER 43 | 44 | echo "ROS Packages Installed Successfully" 45 | -------------------------------------------------------------------------------- /installRikirobotROSNetwork.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | echo "export ROS_IP=\`hostname -I | awk '{print \$1}'\`" >> ~/.bashrc 3 | echo "export ROS_HOSTNAME=\`hostname -I | awk '{print \$1}'\`" >> ~/.bashrc 4 | echo "export ROS_MASTER_URI=http://\`hostname -I | awk '{print \$1}'\`:11311" >> ~/.bashrc 5 | echo "export RIKIBASE=2wd" >> ~/.bashrc 6 | echo "export RIKILIDAR=rplidar" >> ~/.bashrc 7 | echo "export RIKILIDAR=rplidar" >> ~/.bashrc 8 | echo "export RIKI_SERIAL=AEEFGABES63K6M2JXWMTA4VUBU======" >> ~/.bashrc 9 | 10 | echo "Network setup done" 11 | -------------------------------------------------------------------------------- /proxy.txt: -------------------------------------------------------------------------------- 1 | sudo apt-get update -o Acquire::http::proxy=“http://192.168.88.106:8888/” 2 | 3 | curl -k --proxy 192.168.88.106:8888 https://packages.cloud.google.com/apt/doc/apt-key.gpg | sudo apt-key add - 4 | 5 | wget -e "http_proxy=http://192.168.88.106:8888/" https://dl.google.com/coral/python/tflite_runtime-1.14.0-cp35-cp35m-linux_x86_64.whl 6 | wget -e "http_proxy=http://192.168.88.106:8888/" https://dl.google.com/coral/python/tflite_runtime-1.14.0-cp35-cp35m-linux_aarch64.whl 7 | --------------------------------------------------------------------------------